JPH0239892U

JPH0239892U -

Info

Publication number: JPH0239892U
Application number: JP11694988U
Authority: JP
Priority date: 1988-09-06
Filing date: 1988-09-06
Publication date: 1990-03-16

Description

[Brief explanation of drawings]

第１図は本考案一実施例の直角座標形ロボツト
のツール交換機構の全体を示す概略図、第２図は
第１図における連結ベースおよびスライドガイド
ユニツトまわりの縦断面図、第３図は第２図にお
けるＡ―Ａ矢視断面図、第４図は第２図における
Ｂ―Ｂ矢視断面図、第５図および第６図は第２図
におけるストツパの詳細図、第７図および第８図
は第１図のツール交換機構の動作を示すための説
明図で、第７図はヘツドとスライドガイドユニツ
トの位置合せ状態を示す図、第８図はヘツドとス
ライドガイドユニツトの連結状態を示す図である
。１……直角座標形ロボツト、２……Ｘ軸梁、３
，３′……Ｙ軸梁、４……ヘツド、５……交換用
ツール、６……スライドガイドユニツト、７……
鋼球入係合体、８ａ，８ｂ……鋼球リング、１１
……連結ベース、１２……短レール、１３……連
結板、１４……係合用穴、１５……連結ピン、１
６……ストツパピン、１７，１８……パワーシリ
ンダ、２０……ストツパ、２１……突当て金具、
２４……長レール。 Fig. 1 is a schematic diagram showing the entire tool exchange mechanism of a Cartesian coordinate type robot according to an embodiment of the present invention, Fig. 2 is a vertical cross-sectional view of the area around the connecting base and slide guide unit in Fig. 2, FIG. 4 is a sectional view taken along B-B in FIG. 2, FIGS. 5 and 6 are detailed views of the stopper in FIG. 2, and FIGS. 7 and 8. The figure is an explanatory diagram to show the operation of the tool exchange mechanism in Figure 1, Figure 7 is a diagram showing the alignment state of the head and slide guide unit, and Figure 8 is a diagram showing the connected state of the head and slide guide unit. It is a diagram. 1...Cartesian coordinate robot, 2...X-axis beam, 3
, 3'... Y-axis beam, 4... Head, 5... Replacement tool, 6... Slide guide unit, 7...
Engaging body with steel ball, 8a, 8b... Steel ball ring, 11
... Connection base, 12 ... Short rail, 13 ... Connection plate, 14 ... Engagement hole, 15 ... Connection pin, 1
6... Stopper pin, 17, 18... Power cylinder, 20... Stopper, 21... Butt fitting,
24...Long rail.

Claims

[Scope of utility model registration request]

A pair of Y-axis beams installed horizontally parallel to each other and separated by a predetermined distance, an X-axis beam installed between the pair of Y-axis beams and running in the Y-axis direction, and an It is attached to a rectangular coordinate type robot equipped with a head that runs in the axial direction, and is provided movably in the X-axis direction on the lower surface of one of the pair of Y-axis beams, and extends in the X-axis direction. A connecting base that has short rails on each side edge and can be moved a predetermined distance toward the other Y-axis beam by a power cylinder installed on the Y-axis beam, and a connecting base that has short rails on both sides of the connecting base and a short rail on the top surface of both side edges. The power rod is mounted so that it can move in the X-axis direction by engaging the provided steel ball-containing engaging body, and is attached to the end opposite the other Y-axis beam with the rod axis vertical, and is equipped with a connecting pin at the lower end of the rod. A slide guide unit that has a cylinder and holds a replacement tool on its lower surface, and a slide guide unit that extends over the entire length of the X-axis beam at the lower end of the X-axis beam and has the same shape and dimensions as the pair of short rails of the connection base. a pair of long rails, each of which has a pair of short rails and is provided to meet the arrangement conditions to be able to collide with the pair of short rails; one end is fixed to the head mounted on the X-axis beam; The connecting pin of the power cylinder attached to the slide guide unit is inserted into the engaging position with the pair of long rails of the X-axis beam and the pair of short rails of the connecting base that have engaging holes facing in the direction abutting each other. A tool exchange mechanism for a Cartesian robot, comprising a connecting plate that is fitted into a matching hole to connect a head and a slide guide unit.